Neato LDS intensity data

edit

The Neato LDS scanner returns the angle, range, intensity, and an error code. The neato_driver.py from the XV-11 node does not look at the intensity. I want to use the intensity data to help detect 'bright' obstacles marked by reflective tape. How can the driver by modified to return intensity data. My Python skills are non-existant. my first attempt failed. Can I do a pull request still on the Git repository. (Fergy and Ralph probably have better things to do with their time.

???? Code ????? def getScanRanges(self):

    """ Read values of a scan -- call requestScan first! """
    ranges = list()
    intense = list()
    angle = 0

    if not self.readTo("AngleInDegrees"):
        self.flush()
        return []

    last=False
    while not last: #angle < 360:
        try:
            vals,last = self.getResponse()
        except Exception as ex:
            rospy.logerr("Exception Reading Neato lidar: " + str(ex))
            last=True
            vals=[]

        vals = vals.split(",")

        if ((not last) and ord(vals[0][0])>=48 and ord(vals[0][0])<=57 ):
            #print angle, vals, intense
            try:
                a = int(vals[0])
                r = int(vals[1])
 #                   i = int(vals[2])
                e = int(vals[3])

                while (angle < a):
                    ranges.append(0)
  #                        intense.append(0)
                    angle +=1

                if(e==0):
                    ranges.append(r/1000.0)
  #                       intense.append(i/1000.0)
                else:
                    ranges.append(0)
 #                       intense.append(0) 
            except:
                ranges.append(0)
 #                    intense.append(0)
            angle += 1
   if len(ranges) <> 360:
    rospy.loginfo( "Missing laser scans: got %d points" %len(ranges))

 #        return ranges, intense
     return ranges

The following code with comments(#) removed does not abort, but rostopic echo /scan shows intensities[ ]